A self-organizing environmental potential field model based on fuzzy neural networks

Aim at an autonomous mobile robot dynamics planning, this paper proposes a method to construct the dynamic environment potential field model to realize the autonomous mobile robot dynamics planning, and employ fuzzy neural network to tune potential field parameters to overcome the artificial potential field problems of the local minima. Simulation results show that the proposed method is not only effective in realizing optimal path planning, but also provides an effective action planning method which combine the traditional planning and the adaptive optimization technology based on the experience.